fix(train-teacher-policy): --num_envs default None (+1 more)

[andrewwhitecdw]

Small fixes in scripts/rsl_rl/train_teacher_policy.py:

fix: --num_envs default None overwrites scene.num_envs with None

Fix: Replace:

    env_cfg.scene.num_envs = args_cli.num_envs
    env_cfg.scene.env_spacing = 20
    env_cfg.terrain.env_spacing = 20
    if args_cli.reference_motion_path:

with:

    if args_cli.num_envs is not None:
        env_cfg.scene.num_envs = args_cli.num_envs
    env_cfg.scene.env_spacing = 20
    env_cfg.terrain.env_spacing = 20
    if args_cli.reference_motion_path:

fix: --seed CLI argument is ignored when seeding environment

Fix: Replace:

    # set seed of the environment
    env.seed(teacher_policy_cfg.seed)

with:

    # set seed of the environment
    env.seed(args_cli.seed if args_cli.seed is not None else teacher_policy_cfg.seed)

Files changed

• scripts/rsl_rl/train_teacher_policy.py